论文标题
可折叠四杆的自适应态度控制
Adaptive Attitude Control for Foldable Quadrotors
论文作者
论文摘要
最近的四个四型人超越了常规设计，更多地强调了可折叠和可重新配置的身体。技术的状态仍然着重于此类设计的机械可行性，在配置切换过程中有关车辆的跟踪性能的讨论有限。在本文中，我们首先提出了一个通用框架，以通过开关系统理论分析折叠四面体的态度误差。然后，我们采用此框架来研究两个情况下的态度跟踪性能 - 一个具有用于精确已知系统动力学的常规几何控制器；其次，我们提出的形态学感知的自适应控制器，解释了任何建模的不确定性和干扰。最后，我们通过利用轨迹计划者在切换时获得出色的跟踪性能来满足稳定性分析所需的切换要求。给出了仿真结果，以验证提出的控制和计划框架，以通过通道的可折叠四型飞机飞行。
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking performance of the vehicle during configuration switching. In this article, we first present a common framework to analyse the attitude errors of a folding quadrotor via the theory of switched systems. We then employ this framework to investigate the attitude tracking performance for two case scenarios - one with a conventional geometric controller for precisely known system dynamics; and second, with our proposed morphology-aware adaptive controller that accounts for any modeling uncertainties and disturbances. Finally, we cater to the desired switching requirements from our stability analysis by exploiting the trajectory planner to obtain superior tracking performance while switching. Simulation results are presented that validate the proposed control and planning framework for a foldable quadrotor's flight through a passageway.
